CN110712197A - Hydraulic amphibious soft bionic actuator - Google Patents
Hydraulic amphibious soft bionic actuator Download PDFInfo
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- CN110712197A CN110712197A CN201911073088.9A CN201911073088A CN110712197A CN 110712197 A CN110712197 A CN 110712197A CN 201911073088 A CN201911073088 A CN 201911073088A CN 110712197 A CN110712197 A CN 110712197A
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- 230000037431 insertion Effects 0.000 claims description 10
- 239000002775 capsule Substances 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 abstract description 11
- 238000000034 method Methods 0.000 abstract description 10
- 230000007613 environmental effect Effects 0.000 abstract description 7
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- 238000011161 development Methods 0.000 abstract description 6
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- 238000004519 manufacturing process Methods 0.000 abstract description 2
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- 238000005299 abrasion Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
Abstract
A hydraulic amphibious soft bionic actuator is characterized in that: the actuator comprises a soft body driving cavity structure and a non-telescopic column structure; the bottom end surface of the soft driving cavity structure is connected with the side surface of the non-telescopic column; the invention has the characteristics of simple structure, high safety coefficient, low development cost, low maintenance cost, short production period and the like. The invention can absorb the motion advantages of amphibious organisms, has strong environmental adaptability and has higher driving performance and stability particularly in the underwater operation process. The invention can splice a plurality of actuating units to change the integral length and realize the actuation with different requirements. In addition, as the hydraulic cavity is adopted for driving, in the underwater operation process, the high-pressure and large-submergence deep operation in deep sea can be realized by utilizing an internal and external differential pressure compensation method, particularly by adjusting the pressure conditions of the internal and external environments of the fan-shaped bag cavity structure.
Description
Technical Field
The invention relates to the field of robot propulsion, in particular to a hydraulic amphibious soft bionic actuator.
Background
With the development and progress of the robot, the disadvantages of the common rigid robot are gradually highlighted, the posture of each joint needs to be changed through a complex algorithm and a complex control mode to adapt to operation in different environments, and the robot has the defects of low safety coefficient, poor environment adaptability, low reliability, high noise, complex structure, easy abrasion of parts, high maintenance cost, poor fitting degree and the like. The ability to interact with the natural environment or with humans is limited and has not fully satisfied the needs of society.
The soft body, excellent flexibility and strong environmental adaptability of the natural organism provide reliable basis for the development of the soft robot, the soft robot can simulate the muscle movement of the organism, has infinite degrees of freedom, can show unprecedented flexibility, safety and agility, and has outstanding advantages in the aspects of environmental adaptability, maneuverability, stable movement and the like. Therefore, the soft bionic robot is an important development trend in the field of future robots.
At present, robot actuators are the popular direction of research in the field of robots, and existing rigid robot actuators have the disadvantages of poor environmental adaptability, low driving efficiency, and excessively complex driving systems, and thus need to be improved.
Disclosure of Invention
The purpose of the invention is as follows:
the invention provides a hydraulic amphibious soft bionic actuator, and aims to solve the problems of poor environmental adaptability, low driving efficiency, excessively complex driving system and the like of the traditional robot actuator.
The technical scheme is as follows:
a hydraulic amphibious soft bionic actuator is characterized in that: the actuator comprises a soft body driving cavity structure and a non-telescopic column structure; the bottom end surface of the soft driving cavity structure is connected with the side surface of the non-telescopic column;
the soft body driving cavity structure is composed of a plurality of sac cavity structures, the sac cavity structures are sequentially arranged along the length direction of the non-telescopic column structure, and the interiors of the adjacent sac cavity structures are communicated with one another.
The number of the soft driving cavity structures is multiple, and the soft driving cavity structures are arranged on different side faces of the non-telescopic column structure (as shown in fig. 1, the non-telescopic column structure is a prism structure with a square section, and the soft driving cavity structures are arranged on three different side faces of the non-telescopic column structure to control the straight movement and the left-right direction).
The included angles alpha between the adjacent soft body driving cavity structures are the same. Namely, the angle arrangement among all the soft driving cavity structures is the same.
The capsule cavity structure of the soft driving cavity structure is a fan-shaped capsule cavity structure. (as shown in FIG. 1)
The length L of the bottom end of the soft driving cavity structure is equal to the side length of the cross section of the non-telescopic column structure.
One end face of the soft driving cavity structure is provided with a liquid through hole, and the liquid through hole is communicated with the inside of the soft driving cavity structure.
A pressure spring structure is arranged in the non-telescopic column structure. The pressure spring structure is embedded in the non-telescopic column structure, and the strength, the restoring force and the resilience force of the body are increased.
The thickness of the bag cavity bulging wall A (namely, the side wall as shown in the figure) of the soft driving cavity structure is smaller than that of the rest wall surfaces.
The cross section of the non-telescopic column structure can also be other equilateral geometric figures, and the side length of the cross section of the non-telescopic column structure is equal to the width L of the bottom end of the cross section of the sac cavity structure.
The pressure spring structure is embedded in the non-telescopic column, the diameter of the pressure spring structure is about 1/15, the diameter of the pressure spring structure is about 4/5 of the side length of the cross section of the non-telescopic column, and the length of the pressure spring structure is about 9/10 of the length of the non-telescopic column.
The soft driving cavity structure and the non-telescopic column structure form an actuating unit, and the actuating units are detachably connected together;
the detachable connection mode is one of the following two modes:
the first mode is as follows: one end of the non-telescopic column structure is provided with a conical joint, the other end of the non-telescopic column structure is provided with a conical groove capable of being buckled with the conical joint, and the outer wall of the conical joint is provided with an agnail;
the inner wall of the conical groove is provided with an in-groove barb which can be hooked with the barb;
a second mode (in this mode, the bottom surface of the non-extendable column structure (the bottom surface of the non-extendable column structure shown in fig. 3, i.e., the surface on which the soft body drive cavity structure is not provided) is not provided with the soft body drive cavity structure): the soft driving cavity structure and the non-telescopic column structure form an actuating unit, and the actuating units are detachably connected together;
one end of the non-telescopic column structure is provided with a mortise lock structure, and the other end of the non-telescopic column structure is provided with a lock groove structure; the mortise lock structure comprises a lock tongue and a lock pin; the lock tongue is a structure protruding out of the end face B of the non-telescopic column structure, a vertical sliding hole (in the up-and-down direction shown in figures 11 and 13) is formed in the lock tongue, and a vertical sliding block capable of moving up and down along the vertical sliding hole is arranged in the vertical sliding hole (the vertical sliding block is matched with the vertical sliding hole, namely just can move in the vertical sliding hole, and the gap between the vertical sliding block and the vertical sliding hole is not required to be too large); the bottom surface of the non-telescopic column structure is provided with a groove, the lock pin is arranged in the groove, the front end of the lock pin extends out of the end surface B of the non-telescopic column structure through an extending hole and can move back and forth (such as left and right in figures 11 and 12), a limiting slide rod is arranged in the groove, the rear end of the limiting slide rod is connected with the rear side wall of the groove, the front end of the limiting slide rod extends into the slide hole of the lock pin, so that the lock pin can move back and forth along the limiting slide rod, a jacking spring is sleeved on the limiting slide rod, the front end of the jacking spring is connected with the rear end of the lock pin, and the rear end of the jacking;
the lock groove structure comprises a cavity, the cavity is communicated with the outside through a socket on the end face of the non-telescopic column structure, and the socket is of a structure matched with the shape of the lock tongue (namely, the lock tongue can be inserted into the cavity through the socket, the size and the shape of the socket just meet the insertion of the lock tongue, and after the lock tongue is inserted, the gap between the lock tongue and the socket is not too large); a partition plate is arranged in the cavity, the upper surface of the partition plate is lower than the bottom edge C of the socket, a movable plate is arranged at the top of the cavity above the partition plate, a plug tongue is arranged at the bottom of the movable plate, two ends of the movable plate are connected with vertical pull rods, the lower ends of the vertical pull rods penetrate through the partition plate and then are connected with a movable head in the cavity below the partition plate, an insertion hole is formed in the movable head, and when the movable head is located at the locking position at the lowest end, the insertion hole corresponds to a through hole for inserting a lock pin in the;
when the inserting tongue is located at the locking position, the bottom of the inserting tongue is lower than the upper edge D of the socket; when the lock tongue is inserted into the cavity, the lock tongue corresponds to the vertical sliding block and can push the vertical sliding block to move downwards and enable the vertical sliding block to be pushed to extend out of the bottom end of the lock tongue downwards; when the inserting tongue is positioned at the topmost end (namely, the topmost end shown in fig. 9 and 10), the bottom end of the inserting tongue is not lower than the upper edge D of the socket;
a return spring is sleeved on the vertical pull rod (the upper end of the return spring is fixedly connected with the side wall of the cavity, and the lower end of the return spring is connected with the vertical pull rod), and when the plug tongue is pushed upwards to reach the top end position, the return spring is compressed;
a supporting plate is arranged in the cavity above the partition plate, two ends of the supporting plate are connected with the vertical pull rod, and when the inserting tongue is positioned at the topmost end, the upper surface of the supporting plate is flush with the bottom edge C of the inserting opening;
the front end of the lock pin is provided with a roller. The axis of the roller is as shown in fig. 11, perpendicular to the plane of the drawing, the size of the roller being such that it can pass through the through hole and extend into the receptacle.
When the lock tongue is completely inserted into the cavity, the vertical sliding block just completely enters the cavity, that is, as shown in fig. 14, the rear side surface (namely, the right side surface as shown in fig. 14) of the vertical sliding block just contacts with the inner wall of the front end (namely, the right end as shown in fig. 14) of the cavity when moving downwards or a small gap which can be moved mutually is reserved.
The advantages and effects are as follows:
a hydraulic amphibious soft bionic actuator comprises a soft driving cavity structure, a non-telescopic column structure and a pressure spring structure. The soft driving cavity structures are respectively provided with a liquid through hole, the bottom end face of each soft driving cavity structure is bonded with the adjacent surface of the non-telescopic column, and the pressure spring structure is embedded in the non-telescopic column structure. The soft driving cavity structure consists of a plurality of sac cavity structures with sector cross sections; the cross section of the non-telescopic column structure is an equilateral geometric figure, and the side length is equal to the length of the fan-shaped bottom end of the soft body driving cavity structure. The pressure spring structure is embedded in the non-telescopic column and is characterized in that the diameter of the wire is about 1/15, the diameter of the wire is about 4/5 of the length of the non-telescopic column, and the length of the wire is about 9/10 of the length of the non-telescopic column. The soft driving cavity structure is provided with a liquid through hole which is communicated with the inside of each fan-shaped bag cavity structure of the soft driving cavity.
The invention has the following specific beneficial effects:
the invention has the characteristics of simple structure, high safety coefficient, low development cost, low maintenance cost, short production period and the like.
The invention can absorb the motion advantages of amphibious organisms, has strong environmental adaptability and has higher driving performance and stability particularly in the underwater operation process.
The invention can splice a plurality of actuating units to change the integral length and realize the actuation with different requirements.
In addition, as the hydraulic cavity is adopted for driving, in the underwater operation process, the high-pressure and large-submergence deep operation in deep sea can be realized by utilizing an internal and external differential pressure compensation method, particularly by adjusting the pressure conditions of the internal and external environments of the fan-shaped bag cavity structure.
Drawings
Fig. 1 is a schematic view of the overall structure of the embodiment of the present invention.
FIG. 2 is a longitudinal cross-sectional view of an embodiment of the present invention.
FIG. 3 is a schematic end view of the liquid passage according to the embodiment of the present invention.
FIG. 4 is a schematic view of a middle bend in an embodiment of the present invention.
FIG. 5 is a left side view of a bend according to an embodiment of the present invention.
FIG. 6 is a right side bend diagram of an embodiment of the present invention.
Fig. 7 is a partially enlarged view of a connection portion according to the first connection mode of the present invention.
Fig. 8 is a schematic structural diagram after splicing in the first splicing method.
FIG. 9 is a schematic view of a keyway structure in a second connection;
FIG. 10 is a schematic view of the keyway configuration as viewed in the direction of the arrows in FIG. 9;
fig. 11 is a schematic view of a latch bolt structure;
FIG. 12 is a bottom view of FIG. 10;
fig. 13 is a perspective view of the construction of the bolt;
fig. 14 is a schematic structural view of two adjacent non-telescopic column structures spliced together.
In the figure: 1. a soft body driving cavity structure; 2. a liquid through hole; 3. a non-telescoping column structure; 4. a pressure spring structure; 5. a tapered nozzle; 6. and (4) a tapered groove.
Detailed Description
A hydraulic amphibious soft bionic actuator is characterized in that: the actuator comprises a soft body driving cavity structure 1 and a non-telescopic column structure 3; the bottom end surface of the soft driving cavity structure is connected with the side surface of the non-telescopic column;
the soft body driving cavity structure 1 is composed of a plurality of sac cavity structures, the sac cavity structures are sequentially arranged along the length direction of the non-telescopic column structure 3, the interiors of the adjacent sac cavity structures are communicated with each other, and the bottoms of the adjacent sac cavity structures are generally communicated with each other.
The number of the soft driving cavity structures 1 is multiple, and the multiple soft driving cavity structures 1 are arranged on different sides of the non-telescopic column structure 3 (as shown in fig. 1, in the embodiment of the present invention, the non-telescopic column structure 3 is a prism structure with a square cross section, and the multiple soft driving cavity structures 1 are arranged on three different sides of the non-telescopic column structure 3 to control the execution and left-right directions).
The included angles alpha between the adjacent soft body driving cavity structures 1 are the same. Namely, the angle arrangement among all the soft driving cavity structures is the same.
The capsule cavity structure of the soft driving cavity structure 1 is a fan-shaped capsule cavity structure. (as shown in FIG. 1)
The length L of the bottom end of the soft driving cavity structure 1 is equal to the side length of the cross section of the non-telescopic column structure.
One end face of the soft driving cavity structure 1 is provided with a liquid through hole 2, and the liquid through hole 2 is communicated with an internal bag cavity of the soft driving cavity structure 1.
A pressure spring structure 4 is arranged in the non-telescopic column structure 3. The pressure spring structure is embedded in the non-telescopic column structure, and the strength, the restoring force and the resilience force of the body are increased.
The thickness of the bag cavity bulging wall A of the soft driving cavity structure 1 is smaller than that of the rest wall surfaces.
The cross section of the non-telescopic column structure can also be other equilateral geometric figures, and the side length of the cross section of the non-telescopic column structure is equal to the width L of the bottom end of the cross section of the sac cavity structure.
The pressure spring structure is embedded in the non-telescopic column, the diameter of the pressure spring structure is about 1/15, the diameter of the pressure spring structure is about 4/5 of the side length of the cross section of the non-telescopic column, and the length of the pressure spring structure is about 9/10 of the length of the non-telescopic column.
The soft driving cavity structure 1 and the non-telescopic column structure 3 form an actuating unit, and a plurality of actuating units are detachably connected together;
the detachable connection mode is one of the following two modes:
the first mode is as follows: one end of the non-telescopic column structure 3 is provided with a conical joint 5, the other end of the non-telescopic column structure is provided with a conical groove 6 which can be buckled with the conical joint 5, and the outer wall of the conical joint 5 is provided with a barb 5-1;
the inner wall of the conical groove 6 is provided with an in-groove barb 6-1 which can be hooked with the barb 5-1;
the second mode (in this mode, the bottom surface of the non-telescopic column structure 3 is not provided with the soft driving cavity structure 1): the soft driving cavity structure 1 and the non-telescopic column structure 3 form an actuating unit, and a plurality of actuating units are detachably connected together;
one end of the non-telescopic column structure 3 is provided with a mortise lock structure, and the other end is provided with a lock groove structure; the mortise lock structure comprises a bolt 7 and a lock pin 8; the lock tongue 7 is a structure protruding out of the end face B of the non-telescopic column structure 3, a vertical sliding hole 7-1 (in the vertical direction as shown in figures 11 and 13) is formed in the lock tongue 7, a vertical sliding block 7-2 capable of moving up and down along the vertical sliding hole 7-1 is arranged in the vertical sliding hole 7-1 (the vertical sliding block 7-2 is matched with the vertical sliding hole 7-1, namely just can move in the vertical sliding hole 7-1, and the gap between the vertical sliding block 7-2 and the vertical sliding hole 7-1 does not need to be too large); the bottom surface of the non-telescopic column structure 3 is provided with a groove 3-1, a lock pin 8 is arranged in the groove 3-1, the front end of the lock pin 8 extends out of the end surface B of the non-telescopic column structure 3 through an extending hole 3-2 and can move back and forth (such as left and right of figures 11 and 12), a limiting slide bar 3-1-1 is arranged in the groove 3-1, the rear end of the limiting slide bar 3-1-1 is connected with the rear side wall of the groove 3-1, the front end of the limiting slide bar 3-1-1 extends into a slide hole 8-1 of the lock pin 8, so that the lock pin 8 can move back and forth along the limiting slide bar 3-1-1, a jacking spring 3-1-2 is sleeved on the limiting slide bar 3-1-1, the front end of the jacking spring 3-1-2 is connected with the rear end of the lock pin 8, and the rear end of the jacking spring 3-1-2 is connected with the -1 fixation;
the lock groove structure comprises a cavity 3-3, the cavity 3-3 is communicated with the outside through a socket 3-4 on the end face of the non-telescopic column structure 3, the socket 3-4 is a structure matched with the shape of the lock tongue 7, (namely, the lock tongue 7 can be inserted into the cavity 3-3 through the socket 3-4, the size and the shape of the socket 3-4 just meet the insertion requirement of the lock tongue 7, and after the lock tongue 7 is inserted, the gap between the lock tongue 7 and the socket 3-4 is not too large); a partition plate 3-3-1 is arranged in the cavity 3-3, the upper surface of the partition plate 3-3-1 is lower than the bottom edge C of the socket 3-4, a moving plate 3-3-2 is arranged at the top of the cavity above the partition plate 3-3-1, a plug tongue 3-3 is arranged at the bottom of the moving plate 3-3-2, two ends of the moving plate 3-3-2 are connected with vertical pull rods 3-3-4, the lower end of each vertical pull rod 3-3-4 penetrates through the partition plate 3-3-1 and then is connected with a moving head 3-3-5 in the cavity below the partition plate 3-3-1, a plug hole 3-3-5-1 is arranged on the moving head 3-3-5, when the moving head 3-3-5 is located at the locking position of the lowest end, the jack 3-3-5-1 corresponds to a through hole 3-3-6 for inserting the lock pin 8 on the end surface of the non-telescopic column structure 3;
when the inserting tongue 3-3-3 is positioned at the locking position, the bottom of the inserting tongue 3-3-3 is lower than the upper edge D of the socket 3-4; when the lock tongue 7 is inserted into the cavity 3-3, the lock tongue 3-3-3 corresponds to the vertical sliding block 7-2 and can push the vertical sliding block 7-2 to move downwards and push the vertical sliding block 7-2 to extend out of the bottom end of the lock tongue 7 downwards; when the tongue 3-3-3 is positioned at the topmost end (i.e., the topmost end shown in fig. 9 and 10), the bottom end of the tongue 3-3-3 is not lower than the upper edge D of the socket 3-4;
the vertical pull rod 3-3-4 is sleeved with a return spring 9 (the upper end of the return spring 9 is fixedly connected with the side wall of the cavity 3-3, and the lower end of the return spring 9 is connected with the vertical pull rod 3-3-4), and when the plug tongue 3-3-3 is pushed upwards to the position of the top end, the return spring 9 is compressed;
a supporting plate 10 is arranged in the cavity above the partition plate 3-3-1, two ends of the supporting plate 10 are connected with the vertical pull rod 3-3-4, and when the inserting tongue 3-3-3 is positioned at the topmost end, the upper surface of the supporting plate 10 is flush with the bottom edge C of the inserting opening 3-4;
the front end of the lock pin 8 is provided with a roller 8-2. The roller 8-2 has an axial direction as shown in fig. 11, and the roller 8-2 is dimensioned to pass through the through-hole 3-3-6 and to extend into the insertion hole 3-3-5-1, perpendicular to the drawing plane.
When the bolt 7 is completely inserted into the cavity 3-3, the vertical sliding block 7-2 just completely enters the cavity 3-3, that is, as shown in fig. 14, the rear side surface (namely, the right side surface as shown in fig. 14) of the vertical sliding block 7-2 just contacts with the inner wall of the front end (namely, the right end as shown in fig. 14) of the cavity 3-3 when moving downwards or a small gap which can move mutually is reserved.
When the structure of the second mode is used, the moving head 3-3-5 is pressed upwards by hand to the top end (namely the top end when the moving head is not pressed), at the moment, the return spring 9 is compressed (or stretched),
then, the latch 7 is inserted into the slot 3-4, and at this time, in order to prevent the vertical slider 7-2 from moving out of the vertical sliding hole 7-1, appropriate damping may be added between the vertical slider 7-2 and the vertical sliding hole 7-1, for example, an appropriate roughness of a contact surface may be added to increase some friction force, or the bottom end of the vertical slider 7-2 may be directly held by hand, and when a part of the front end of the vertical slider 7-2 is located in the slot 3-4, the hand may be released, or as shown in fig. 13, an auxiliary clip E shaped like a letter "C" may be used to temporarily hold the vertical slider 7-2, and when a part of the front end of the vertical slider 7-2 is located in the slot 3-4, the clip E shaped like a letter "C" may be removed, which may be selected, then, the bolt 7 is continuously inserted, the roller 8-2 at the front end of the lock pin 8 extends into the through hole 3-3-6, because the moving head 3-3-5 is positioned at the topmost end, and the jack 3-3-5-1 is staggered with the through hole 3-3-6, the roller 8-2 at the front end of the lock pin 8 can prop against the moving head 3-3-5 along with the movement, then the lock pin 7 is continuously inserted until the lock pin 7 is completely inserted into the socket 3-4 (at the moment, the end surfaces of the two non-telescopic column structures 3 are contacted), at the moment, the propping spring 3-1-2 is compressed, meanwhile, the insert pin 3-3-3 corresponds to the vertical sliding block 7-2, then the moving head 3-3-5 is released, at the moment, the return spring 9 is reset (if the original condition of compression, at the moment, the return spring is stretched again, if the original state is a stretched state, the return spring is restored to the original position at the moment), the return spring 9 drives the vertical pull rod 3-3-4 to move downwards, so that the insertion tongue 3-3 abuts against the vertical slide block 7-2 to move downwards until the moving head 3-3-5 moves to the lowest end, namely the locking position (namely the moving head 3-3-5 does not move downwards), the roller 8-2 rolls in the moving process, when the moving head 3-3-5 moves to the lowest end, the insertion hole 3-3-5-1 corresponds to the through hole 3-3-6, under the action of the jacking spring 3-1-2, the front end of the lock pin 8 is jacked into the insertion hole 3-3-5-1 to complete locking, the moving head 3-3-5 is prevented from moving upwards, at the moment, the inserting tongue 3-3-3 extends into the vertical sliding hole 7-1 to clamp the upper end of the vertical sliding hole 7-1, and the bottom end of the vertical sliding block 7-2 extends out of the bottom of the inserting tongue 7, as shown in figures 11 and 14, namely, the bottom end of the vertical sliding block 7-2 is lower than the bottom edge C of the inserting opening 3-4, so that the bottom end of the vertical sliding block 7-2 is also clamped, the upper end and the lower end of the inserting tongue 7 are both clamped to prevent the inserting tongue 7 from falling off from the cavity 3-3, and the inserting is completed.
When disassembly is needed, as shown in fig. 14, the lock pin 8 is pulled out rightwards (the lock pin 8 is provided with a handle convenient for pulling by hand), then the moving head 3-3-5 is pressed upwards until the moving head 3-3-5 is located at the topmost end, then the lock pin 8 is released, in the process that the moving head 3-3-5 moves upwards, the supporting plate 10 supports the vertical sliding block 7-2 to move upwards until the supporting plate 10 moves upwards to the topmost end along with the moving head 3-3-5, the upper surface of the supporting plate 10 is flush with the bottom edge C of the socket 3-4, and then the disassembly can be completed by pulling out the lock tongue 7.
It should be noted that in the description of the present invention, the terms "middle", "left", "right", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used for descriptive purposes only, for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In addition, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "adhered" and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; the connection can be mechanical connection or adhesive connection; can be directly connected or indirectly connected through an intermediate medium; there may be communication between the interiors of the two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Further action details are described below in conjunction with the figures:
referring to fig. 1 to 3, the present invention provides a hydraulic amphibious soft bionic actuator, which includes a soft driving cavity structure 1, and a liquid through hole 2 is disposed at a liquid through end of the soft driving cavity structure.
The bottom of the soft body driving cavity structure 1 is fixedly bonded on the surface of the non-telescopic column structure 3, and a compression spring structure 4 is embedded in the non-telescopic column structure 3.
In the embodiment of the present invention, as shown in fig. 5 and 6, the left and right soft body driving cavities provide power to enable the actuator to perform left and right bending motions, and as shown in fig. 4, the middle (i.e., the upper surface) soft body driving cavity provides power to enable the actuator to perform middle bending motions.
In an embodiment of the invention, the liquid through hole can provide a platform for power source input of the actuator.
In the embodiment of the invention, the non-telescopic column structure can be connected with each soft driving cavity structure and provides an embedded platform for the pressure spring structure. In addition, the axial extension of the actuator can be avoided when the soft driving cavity structure is subjected to liquid flowing and bulging.
In the embodiment of the invention, the pressure spring structure can improve the strength of the actuator body structure and enhance the execution force and the resilience force of the actuator body structure in the movement process.
Under water, the embodiment of the invention fills different values of pressure (different values of pressure are filled between two adjacent times compared with each other) through the liquid through holes of the left and right soft driving cavity structures, so as to realize the actuating force with different forces, and the actuator realizes the left-right swing of simulating the tail part of the related organism, thereby driving the carrier to swim under water and effectively steer; the middle soft body drives the liquid through hole of the cavity structure, and the pressure with different values is filled, so that the actuator realizes the up-and-down swing of the tail part of the related organism, and the carrier is driven to move underwater. On land, the embodiment of the invention fills different values of pressure into a liquid through hole of a middle soft driving cavity structure, so that the actuator realizes the motion mechanism of imitating the bow of a worm related organism, thereby driving the carrier to maneuver on the land. The left and right soft bodies drive the cavity structure liquid through holes and are filled with pressures with different values, so that the actuator can steer left and right on the land. The principle is that the bulging walls A expand when liquid is filled, and the adjacent two expanded bulging walls A interact with each other to force the non-telescopic column structure 3 to deform and complete the bowing bending motion mechanism.
In addition, to vary the effect of actuation, the effect of lengthening the actuator can be used, as shown in fig. 7 and 8, in a first way: inserting the conical connector 5 into the conical groove 6 to enable the barb 5-1 of the conical connector 5 and the barb 6-1 in the groove to be mutually hooked to finish connection, and arranging a sealing waterproof glue at the connection position in order to ensure the connection tightness; in addition, the second mode can be adopted.
In conclusion, the invention has the characteristics of low development cost, simple structure, strong environmental adaptability, high driving efficiency, high stability and the like. In addition, the invention can carry out relevant operation by adjusting the internal pressure of the soft driving cavity structure, thereby being capable of carrying out deep sea high pressure and large submergence research.
Claims (10)
1. A hydraulic amphibious soft bionic actuator is characterized in that: the actuator comprises a soft body driving cavity structure (1) and a non-telescopic column structure (3); the bottom end surface of the soft driving cavity structure is connected with the side surface of the non-telescopic column;
the soft body driving cavity structure (1) is composed of a plurality of sac cavity structures, the sac cavity structures are sequentially arranged along the length direction of the non-telescopic column structure (3), and the interiors of the adjacent sac cavity structures are communicated with one another.
2. The hydraulic amphibious soft bionic actuator according to claim 1, characterized in that: the number of the soft driving cavity structures (1) is multiple, and the soft driving cavity structures (1) are arranged on different side faces of the non-telescopic column structure (3).
3. The hydraulic amphibious soft bionic actuator according to claim 2, characterized in that: the included angles (alpha) between the adjacent soft body driving cavity structures (1) are the same.
4. The hydraulic amphibious soft bionic actuator according to claim 3, characterized in that: the capsule cavity structure of the soft driving cavity structure (1) is a fan-shaped capsule cavity structure.
5. The hydraulic amphibious soft bionic actuator according to claim 3, characterized in that: the length (L) of the bottom end of the soft driving cavity structure (1) is equal to the side length of the cross section of the non-telescopic column structure.
6. A hydraulic amphibious soft bionic actuator according to any one of claims 1-5, characterized in that: one end face of the soft driving cavity structure (1) is provided with a liquid through hole (2), and the liquid through hole (2) is communicated with the inside of the soft driving cavity structure (1).
7. The hydraulic amphibious soft bionic actuator according to claim 6, characterized in that: a pressure spring structure (4) is arranged in the non-telescopic column structure (3).
8. The hydraulic amphibious soft bionic actuator according to claim 7, characterized in that: the thickness of the bag cavity bulging wall (A) of the soft driving cavity structure (1) is smaller than that of the other wall surfaces.
9. The hydraulic amphibious soft bionic actuator according to claim 7, characterized in that: the pressure spring structure is embedded in the non-telescopic column, the diameter of the pressure spring structure is 1/15, the diameter of the pressure spring structure is 4/5 of the side length of the cross section of the non-telescopic column, and the length of the pressure spring structure is 9/10 of the length of the non-telescopic column.
10. The hydraulic amphibious soft bionic actuator according to claim 1, characterized in that: the soft driving cavity structure (1) and the non-telescopic column structure (3) form an actuating unit, and the actuating units are detachably connected together;
the detachable connection mode is one of the following two modes:
the first mode is as follows: one end of the non-telescopic column structure (3) is provided with a conical joint (5), the other end of the non-telescopic column structure is provided with a conical groove (6) which can be buckled with the conical joint (5), and the outer wall of the conical joint (5) is provided with an agnail (5-1);
the inner wall of the conical groove (6) is provided with an in-groove barb (6-1) which can be hooked with the barb (5-1);
the second mode is as follows: the soft driving cavity structure (1) and the non-telescopic column structure (3) form an actuating unit, and the actuating units are detachably connected together;
one end of the non-telescopic column structure (3) is provided with a mortise lock structure, and the other end of the non-telescopic column structure is provided with a lock groove structure; the mortise lock structure comprises a bolt (7) and a lock pin (8); the lock tongue (7) is a structure protruding out of the end face (B) of the non-telescopic column structure (3), a vertical sliding hole (7-1) is formed in the lock tongue (7), and a vertical sliding block (7-2) capable of moving up and down along the vertical sliding hole (7-1) is arranged in the vertical sliding hole (7-1); the bottom surface of the non-telescopic column structure (3) is provided with a groove (3-1), a lock pin (8) is arranged in the groove (3-1), the front end of the lock pin (8) extends out of the end surface (B) of the non-telescopic column structure (3) through an extending hole (3-2) and can move back and forth, a limiting slide bar (3-1-1) is arranged in the groove (3-1), the rear end of the limiting slide bar (3-1-1) is connected with the rear side wall of the groove (3-1), the front end of the limiting slide bar (3-1-1) extends into a sliding hole (8-1) of the lock pin (8), so that the lock pin (8) can move back and forth along the limiting slide bar (3-1-1), a jacking spring (3-1-2) is sleeved on the limiting slide bar (3-1-1), the front end of the jacking spring (3-1-2) is connected with the rear end of the lock pin (8), the rear end of the jacking spring (3-1-2) is fixed with the rear side wall of the groove (3-1) or the limiting slide bar (3-1-1);
the lock groove structure comprises a cavity (3-3), the cavity (3-3) is communicated with the outside through a socket (3-4) on the end face of the non-telescopic column structure (3), and the socket (3-4) is of a structure matched with the shape of the lock tongue (7); a partition plate (3-3-1) is arranged in the cavity (3-3), the upper surface of the partition plate (3-3-1) is lower than the bottom edge (C) of the socket (3-4), a movable plate (3-3-2) is arranged at the top of the cavity above the partition plate (3-3-1), an insertion tongue (3-3-3) is arranged at the bottom of the movable plate (3-3-2), two ends of the movable plate (3-3-2) are connected with vertical pull rods (3-3-4), the lower ends of the vertical pull rods (3-3-4) penetrate through the partition plate (3-3-1) and then are connected with a movable head (3-3-5) in the cavity below the partition plate (3-3-1), and insertion holes (3-3-5-1) are arranged on the movable head (3-3-5), when the moving head (3-3-5) is located at the locking position at the lowest end, the jack (3-3-5-1) corresponds to the through hole (3-3-6) for inserting the lock pin (8) on the end surface of the non-telescopic column structure (3);
when the inserting tongue (3-3-3) is positioned at the locking position, the bottom of the inserting tongue (3-3-3) is lower than the upper edge (D) of the socket (3-4); when the lock tongue (7) is inserted into the cavity (3-3), the lock tongue (3-3-3) corresponds to the vertical sliding block (7-2) and can push the vertical sliding block (7-2) to move downwards and push the vertical sliding block (7-2) to extend out of the bottom end of the lock tongue (7) downwards; when the inserting tongue (3-3-3) is positioned at the topmost end, the bottom end of the inserting tongue (3-3-3) is not lower than the upper edge (D) of the socket (3-4);
a return spring (9) is sleeved on the vertical pull rod (3-3-4), and when the inserting tongue (3-3-3) is pushed upwards to the position of the top end, the return spring (9) is compressed;
a supporting plate (10) is arranged in the cavity above the partition plate (3-3-1), two ends of the supporting plate (10) are connected with the vertical pull rod (3-3-4), and when the inserting tongue (3-3-3) is positioned at the topmost end, the upper surface of the supporting plate (10) is flush with the bottom edge (C) of the inserting opening (3-4);
the front end of the lock pin (8) is provided with a roller (8-2).
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| CN201911073088.9A CN110712197A (en) | 2019-11-05 | 2019-11-05 | Hydraulic amphibious soft bionic actuator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112327860A (en) * | 2020-11-16 | 2021-02-05 | 西安应用光学研究所 | Self-adaptive motion control system of amphibious bionic robot |
| CN113442148A (en) * | 2021-07-07 | 2021-09-28 | 重庆七腾科技有限公司 | Multi-dimensional adjustable manipulator |
| CN117103240A (en) * | 2023-10-11 | 2023-11-24 | 沈阳工业大学 | Four-degree-of-freedom hydraulic soft actuator |
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2019
- 2019-11-05 CN CN201911073088.9A patent/CN110712197A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112327860A (en) * | 2020-11-16 | 2021-02-05 | 西安应用光学研究所 | Self-adaptive motion control system of amphibious bionic robot |
| CN112327860B (en) * | 2020-11-16 | 2023-12-12 | 西安应用光学研究所 | Amphibious bionic robot self-adaptive motion control system |
| CN113442148A (en) * | 2021-07-07 | 2021-09-28 | 重庆七腾科技有限公司 | Multi-dimensional adjustable manipulator |
| CN117103240A (en) * | 2023-10-11 | 2023-11-24 | 沈阳工业大学 | Four-degree-of-freedom hydraulic soft actuator |
| CN117103240B (en) * | 2023-10-11 | 2024-01-23 | 沈阳工业大学 | Four-degree-of-freedom hydraulic soft actuator |
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